#ifndef ALGORITHM_PLAN_H
#define ALGORITHM_PLAN_H

#include <iostream>
#include <vector>
#include "plan/plan_data_structure.hpp"

namespace ZORAL
{

#define PLAN_EPS 1e-3

    class JointPlanner
    {


    public:
        static int computeJointTrajFivePoly(const double &vel_lim, const double &time_lim, const double &pos_start, const double &pos_end, const double &sample_rate, std::vector<double> &traj_pos, std::vector<double> &traj_vel, std::vector<double> &traj_acc);

    };


} // namespace ZORAL
#endif // ALGORITHM_PLAN_H